[Replay] Add replay_deviceio_session

[shaosu-nvidia]

1. ReplayDeviceIOSession takes an existing MCAP file and a map of
   trackers that should be replayed and the channel name that they got
recorded in the passed mcap file

2. In each update call, it pulls one record from the mcap file for each
   tracker and it's channels

3. Refactor the existing DeviceIOSession to LiveDeviceIOSession and add
   creator functions to create either LiveDeviceIOSession or
ReplayDeviceIOSession. Both of them share the same python interface.

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[qingsi-at-nv]

Can you help me understand how LiveDeviceIOSession and ReplayDeviceIOSession are private after the change? Their ctors are still public. Are they hidden via a build rule?